Abstract

Diversity enables discovery. Examining the remarkable diversity in
nature has lead to the discovery of a general theory of legged
locomotion. Extraordinarily diverse animals show the same motions -
legged animals bounce like people on pogo sticks. Force patterns
produced by the six-legged insects are the same as those produced by
trotting eight-legged crabs, four-legged dogs and even running
humans. Rapid running cockroaches become bipedal as they take 50
steps in a single second. The advantage of many legs and a sprawled
posture appears to be in stability. Mathematical models show that
these designs self-stabilize to perturbations without the equivalent
of a brain. Control algorithms appear embedded in the form of the
animal itself. Amazing feet allow geckos to climb up walls at over
meter per second without using claws, glue or suction - just
molecular forces. Fundamental principles of animal locomotion have
inspired the design of self-clearing dry adhesives, artificial
muscles, new control circuits for the disabled, creative creations in
computer animation and autonomous legged robots such as the
Mecho-gecko, Sprawl and the robot hexapod (Rhex). Revolutionary new
technologies in materials and manufacturing promises to lead to even
more mobile robots in the future as the internet "grows" legs.

About the Speaker

Robert Full completed his undergraduate studies at SUNY
Buffalo in 1979. He also did his graduate work at SUNY Buffalo,
receiving a master's degree in 1982 and a doctoral degree in 1984. He
held a research and teaching post doctoral position at The University
of Chicago from 1984 to 1986 during which time he did research at
Harvard University. In 1986 he joined the faculty of the University
of California at Berkeley as an Assistant Professor of Zoology. He
was promoted to Associate Professor of Integrative Biology in 1991,
and to Full Professor of Integrative Biology in 1995, a position he
holds today. In 1996 he was given Berkeley's Distinguished Teaching
Award. In 1997 Professor Full became a Chancellor's Professor at
Berkeley, awarded for "distinguished achievement of the highest level
in research, teaching and service." In 1998 Professor Full received a
Goldman Professorship for innovative teaching.

Professor Full directs the Poly-P.E.D.A.L. Laboratory that
studies the Performance, Energetics and Dynamics of Animal Locomotion
(P.E.D.A.L.) in many-footed creatures (Poly). His research laboratory
applies the same techniques used in the study of human gait - 3D
kinematic, force platform, and EMG analysis - but in miniature. His
internationally recognized research program in comparative physiology
and biomechanics has shown how examining a diversity of animals leads
to the discovery of general principles of locomotion. General
principles can then be used as hypotheses to explain the remarkable
diversity in physiology and morphology in nature. His programmatic
theme is Diversity Enables Discovery. At the same time, discovering
the function of simple, tractable neuromechanical systems along with
a knowledge of evolution can provide new design ideas applicable to
the control of animal and human gait.

Full's research also has provided biological inspiration for
the design of multi-legged robots, artificial muscles and dry
adhesives. His research interests extend from analyzing the pitching
motion of a Hall of Fame pitcher to assisting computer animators make
children's movies (Pixar/Disney Bug's Life). Full received a National
Science Foundation Presidential Young Investigators Award. He has
presented his research at the National Academy of Sciences. Professor
Full's has delivered over 150 presentations to groups interested in
physiology, biomechanics, mathematics, biomedicine, space exploration
(NASA), robotics, defense, education, entertainment, computer
science, animatronics and science writing. His research has been
featured in the popular press such as newspapers, books, various
science magazines and on several television shows (CNN, NBC Today
Show, ABC World News Tonight, Discovery Channel, Learning Channel.)